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Driving emotion plays an important role in intention generation and behavior decision. It is an important premise to understand the influencing mechanism of driving emotion on intention correctly for the realization of driving intention identification, active vehicle security warning, and intelligent driving. In the case of two-lane, multi-source dynamic data of human–vehicle–environment under drivers’ different emotional states is obtained through actual and virtual driving experiment in this article. Considering the influence of emotion on intention, the probability distributions of the driving intention in different emotions are obtained by means of the immune algorithm. And the priming effect of vehicle driving emotion on intention was analyzed deeply. The research results can provide theoretical foundation for the research of driving intention identification, active vehicle security warning system, and intelligent driving command system under the condition of Internet of things.